WO2019096923A3 - Engrenage à ondes de déformation avec bride de sortie et codeur intégré - Google Patents

Engrenage à ondes de déformation avec bride de sortie et codeur intégré Download PDF

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Publication number
WO2019096923A3
WO2019096923A3 PCT/EP2018/081413 EP2018081413W WO2019096923A3 WO 2019096923 A3 WO2019096923 A3 WO 2019096923A3 EP 2018081413 W EP2018081413 W EP 2018081413W WO 2019096923 A3 WO2019096923 A3 WO 2019096923A3
Authority
WO
WIPO (PCT)
Prior art keywords
inner ring
outer ring
toothed gear
strain wave
gear
Prior art date
Application number
PCT/EP2018/081413
Other languages
English (en)
Other versions
WO2019096923A2 (fr
Inventor
Steffen Henrik JOHANSEN
Original Assignee
Universal Robots A/S
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universal Robots A/S filed Critical Universal Robots A/S
Priority to US16/759,461 priority Critical patent/US11964389B2/en
Priority to JP2020526139A priority patent/JP2021503059A/ja
Priority to KR1020207012475A priority patent/KR102471820B1/ko
Priority to CN201880071930.2A priority patent/CN111615602A/zh
Priority to EP18812073.7A priority patent/EP3710729A2/fr
Publication of WO2019096923A2 publication Critical patent/WO2019096923A2/fr
Publication of WO2019096923A3 publication Critical patent/WO2019096923A3/fr
Priority to JP2023140972A priority patent/JP2023164907A/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F16H2049/003—Features of the flexsplines therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un engrenage à ondes de déformation comprenant une bague extérieure et une bague intérieure disposée de manière rotative dans la bague extérieure. La bague intérieure comprend une roue dentée à l'intérieur et une cannelure flexible est disposée dans la bague intérieure et comprend une partie flexible comprenant une roue dentée à l'extérieur. Un générateur d'ondes peut être mis en rotation par rapport à la cannelure flexible et est conçu pour fléchir la partie flexible dans une direction radiale pour engrener partiellement la roue dentée à l'extérieur avec la roue dentée à l'intérieur, provoquant la rotation de la bague intérieure par rapport à la bague extérieure. Une partie de ladite bague intérieure s'étend en dehors de ladite bague extérieure et comprend une bride de sortie faisant saillie vers l'extérieur. Un lecteur de codeur peut être disposé sur la bague extérieure et une piste de codeur peut être disposée sur la bague intérieure. La présente invention concerne également une articulation de robot comprenant l'engrenage à ondes de déformation.
PCT/EP2018/081413 2017-11-15 2018-11-15 Engrenage à ondes de déformation avec bride de sortie et codeur intégré WO2019096923A2 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US16/759,461 US11964389B2 (en) 2017-11-15 2018-11-15 Strain wave gear with output flange and integrated encoder
JP2020526139A JP2021503059A (ja) 2017-11-15 2018-11-15 歪み波動歯車
KR1020207012475A KR102471820B1 (ko) 2017-11-15 2018-11-15 스트레인 웨이브 기어
CN201880071930.2A CN111615602A (zh) 2017-11-15 2018-11-15 应变波齿轮
EP18812073.7A EP3710729A2 (fr) 2017-11-15 2018-11-15 Engrenage à ondes de déformation avec bride de sortie et codeur intégré
JP2023140972A JP2023164907A (ja) 2017-11-15 2023-08-31 歪み波動歯車と歪み波動歯車システム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17201940 2017-11-15
EP17201940.8 2017-11-15

Publications (2)

Publication Number Publication Date
WO2019096923A2 WO2019096923A2 (fr) 2019-05-23
WO2019096923A3 true WO2019096923A3 (fr) 2019-06-20

Family

ID=60382086

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/081413 WO2019096923A2 (fr) 2017-11-15 2018-11-15 Engrenage à ondes de déformation avec bride de sortie et codeur intégré

Country Status (6)

Country Link
US (1) US11964389B2 (fr)
EP (1) EP3710729A2 (fr)
JP (2) JP2021503059A (fr)
KR (1) KR102471820B1 (fr)
CN (1) CN111615602A (fr)
WO (1) WO2019096923A2 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3710729A2 (fr) 2017-11-15 2020-09-23 Universal Robots A/S Engrenage à ondes de déformation avec bride de sortie et codeur intégré
ES2971025T3 (es) 2018-05-18 2024-06-03 Universal Robots As Articulación de robot que comprende un conjunto de freno
US11839979B2 (en) 2018-06-15 2023-12-12 Universal Robots A/S Dual mode free-drive of robot arm
JP2020034128A (ja) * 2018-08-31 2020-03-05 セイコーエプソン株式会社 歯車装置、歯車装置ユニットおよびロボット
DE102019131616A1 (de) * 2019-11-22 2021-05-27 Schaeffler Technologies AG & Co. KG Flexibles Getriebebauteil und Verfahren zur Herstellung eines Getriebebauteils
DK180930B1 (en) * 2021-03-25 2022-06-29 Universal Robots As Strain wave gear with encoder integration
DE102021132229A1 (de) 2021-12-08 2023-06-15 Schaeffler Technologies AG & Co. KG Lagerelement für ein Wellgetriebe sowie Wellgetriebe
WO2023246994A1 (fr) 2022-06-20 2023-12-28 Universal Robots A/S Élément de robot doté d'une bague d'éclairage
CN115609627B (zh) * 2022-10-08 2023-12-01 深圳市越疆科技股份有限公司 机械臂及其关节模组、编码组件

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KR20170053499A (ko) * 2015-11-06 2017-05-16 삼성중공업 주식회사 다관절 매니퓰레이터

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ES2971025T3 (es) 2018-05-18 2024-06-03 Universal Robots As Articulación de robot que comprende un conjunto de freno
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US8991282B2 (en) * 2012-12-12 2015-03-31 Harmonic Drive Systems Inc. Wave gear unit with input bearings
US20160305527A1 (en) * 2015-03-04 2016-10-20 Hiwin Technologies Corp. Motor-incorporating reducer
WO2017012626A1 (fr) * 2015-07-21 2017-01-26 Kr 2013 Aps Ensemble articulation
KR20170053499A (ko) * 2015-11-06 2017-05-16 삼성중공업 주식회사 다관절 매니퓰레이터

Also Published As

Publication number Publication date
JP2023164907A (ja) 2023-11-14
KR20200086270A (ko) 2020-07-16
KR102471820B1 (ko) 2022-11-29
JP2021503059A (ja) 2021-02-04
WO2019096923A2 (fr) 2019-05-23
CN111615602A (zh) 2020-09-01
EP3710729A2 (fr) 2020-09-23
US11964389B2 (en) 2024-04-23
US20200340569A1 (en) 2020-10-29

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